mici: add a refresh models button to the models panel (#2018)

models: add a refresh models button to mici, gate and show progress on both panels

Adds the refresh-models tile to the mici models panel (it was missing there),
factoring the sync-key trigger + in-progress check into refresh_model_list()
and refresh_in_progress() shared with the big UI.

On both UIs the refresh button is now gated on offroad + not-downloading +
not-refreshing (the manager runs offroad-only and its per-tick manifest fetch
sits above a blocking download loop, so a refresh queued in either state would
stick), and shows progress while the manager refetches: mici shows "fetching..."
on the tile, the big UI flips its button from REFRESH to "FETCHING..." to match
its FETCHING.../SELECT/CLEAR label style (as in the OSM panel), replacing the
old fire-and-forget popup.


Claude-Session: https://claude.ai/code/session_01EGMnVnSk5inGTrd7kuDVG9

Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/build-all-tinygrad-models.yaml

@@ -20,6 +20,11 @@ on:
         required: false
         type: string
         default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 
 jobs:
   setup:
@@ -34,7 +39,6 @@ jobs:
       - name: Checkout sunnypilot repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot
           path: sunnypilot
           submodules: recursive
 
@@ -47,10 +51,10 @@ jobs:
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -118,6 +122,7 @@ jobs:
       json_version: ${{ needs.setup.outputs.json_version }}
       target_hardware: ${{ github.event.inputs.target_hardware }}
       hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
       set_min_version: ${{ github.event.inputs.set_min_version }}
       tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
@@ -162,6 +167,7 @@ jobs:
       target_hardware: ${{ github.event.inputs.target_hardware }}
       artifact_suffix: -retry
       hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
       set_min_version: ${{ github.event.inputs.set_min_version }}
       tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit

.github/workflows/build-single-tinygrad-model.yaml

@@ -39,6 +39,11 @@ on:
         required: false
         type: string
         default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
       set_min_version:
         description: 'Minimum selector version'
         required: false
@@ -107,6 +112,11 @@ on:
         required: false
         type: string
         default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
   JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
@@ -136,7 +146,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

.github/workflows/release-drafter.yml

@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/test-discourse.yaml.yml

@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"

openpilot/selfdrive/modeld/modeld.py

@@ -474,6 +474,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)

openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -13,7 +13,7 @@ from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.sunnypilot.model_info import (big_model_state, bundles_for_source, carrying_model, default_model_name,
-                                                           model_cache_size_mb, queued_name)
+                                                           model_cache_size_mb, queued_name, refresh_in_progress, refresh_model_list)
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import DialogResult, Widget
@@ -40,6 +40,8 @@ class ModelsLayout(Widget):
     self._downloading = False
     self._verifying = False
     self._clearing = False
+    self._refreshing = False
+    self._refresh_start: float | None = None
     self._last_note = None
     self.last_cache_calc_time = 0
 
@@ -67,10 +69,9 @@ class ModelsLayout(Widget):
 
     self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
 
-    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
-                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             ui_state.params.put("ModelManager_LastSyncTime_Chestnut", 0),
-                                             gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
+    self.refresh_item = button_item(tr("Refresh Model List"),
+                                    lambda: tr("FETCHING...") if self._refreshing else tr("REFRESH"), "",
+                                    self._refresh_models)
 
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
@@ -115,7 +116,7 @@ class ModelsLayout(Widget):
     if lagd_toggle:
       desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['lateralDelay'].lateralDelay:.3f} s"
     elif ui_state.CP is not None:
-      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
+      sw = float(ui_state.params.get("LagdToggleDelay", return_default=True))
       cp = ui_state.CP.steerActuatorDelay
       desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
     self.lagd_toggle.set_description(desc)
@@ -133,6 +134,10 @@ class ModelsLayout(Widget):
                            tr("Clear Cache"), callback=_callback)
     gui_app.push_widget(dialog)
 
+  def _refresh_models(self):
+    refresh_model_list()
+    self._refresh_start = time.monotonic()
+
   def _handle_bundle_download_progress(self):
     self.cancel_download_item.set_visible(False)
     self._downloading = False
@@ -343,6 +348,10 @@ class ModelsLayout(Widget):
     # manager is offroad-only, so an onroad clear would never be serviced
     self.clear_cache_item.action_item.set_enabled(offroad and not self._downloading and not self._clearing)
 
+    # manager is offroad-only, so a refresh queued onroad would never be serviced
+    self._refreshing = refresh_in_progress(self._refresh_start)
+    self.refresh_item.action_item.set_enabled(offroad and not self._downloading and not self._refreshing)
+
   def _render(self, rect):
     self._scroller.render(rect)
 

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -14,7 +14,8 @@ from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.sunnypilot.model_info import (active_source, big_model_state, bundles_for_source, carrying_model,
-                                                           default_model_name, model_cache_size_mb, model_info, queued_name)
+                                                           default_model_name, model_cache_size_mb, model_info, queued_name,
+                                                           refresh_in_progress, refresh_model_list)
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
@@ -83,6 +84,10 @@ class ModelsLayoutMici(NavScroller):
     self.select_model_btn = BigButton(tr("select model"))
     self.select_model_btn.set_click_callback(self._show_folders)
 
+    self.refresh_btn = BigButton(tr("refresh models"))
+    self.refresh_btn.set_click_callback(self._refresh_models)
+    self._refresh_start: float | None = None
+
     self.cancel_download_btn = BigButton(tr("cancel download"))
     self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadRef"))
 
@@ -90,7 +95,7 @@ class ModelsLayoutMici(NavScroller):
     self.clear_cache_btn.set_click_callback(self._confirm_clear_cache)
     self._cache_size_time = 0.0
 
-    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.clear_cache_btn]
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn]
     self._scroller.add_widgets(self.main_items)
 
   @property
@@ -173,6 +178,10 @@ class ModelsLayoutMici(NavScroller):
     gui_app.push_widget(BigConfirmationDialog(f"{tr('slide to')}\n{tr('clear cache')}", icon,
                                               lambda: ui_state.params.put_bool("ModelManager_ClearCache", True), red=True))
 
+  def _refresh_models(self):
+    refresh_model_list()
+    self._refresh_start = time.monotonic()
+
   def _select_folder(self, folder_name):
     source = self._selection_source
     if source is None:  # folders are only reachable after picking a hardware
@@ -226,6 +235,11 @@ class ModelsLayoutMici(NavScroller):
       self._cache_size_time = now
       self.clear_cache_btn.set_value(f"{model_cache_size_mb():.1f} MB")
 
+    # manager is offroad-only, so a refresh queued onroad would never be serviced
+    refreshing = refresh_in_progress(self._refresh_start)
+    self.refresh_btn.set_enabled(ui_state.is_offroad() and not is_downloading and not refreshing)
+    self.refresh_btn.set_value(tr("fetching...") if refreshing else "")
+
     self.current_model_info.current_model_header.set_text(tr("active model"))
     active_text, info_header, info_text = _model_info()
     self.current_model_info.current_model_text.set_text(active_text)

openpilot/selfdrive/ui/sunnypilot/model_info.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import contextlib
 import os
+import time
 
 from openpilot.common.hardware.hw import Paths
 from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
@@ -98,3 +99,22 @@ def model_info() -> tuple[str, str, str]:
   active_name = active_bundle.displayName if active_bundle else default_model_name(source)
   other_name = other_bundle.displayName if other_bundle else default_model_name(other)
   return source, active_name, other_name
+
+
+# mirrors the manager's ModelCache keys; the manager restamps them on a successful fetch
+MODEL_SYNC_KEYS = ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_Chestnut")
+MODEL_SYNC_TIMEOUT = 20.0
+
+
+def refresh_model_list() -> None:
+  # zeroing the sync keys makes the manager refetch each manifest on its next tick
+  for key in MODEL_SYNC_KEYS:
+    ui_state.params.put(key, 0)
+
+
+def refresh_in_progress(started_at: float | None) -> bool:
+  """Whether a user refresh is still outstanding. A failed fetch never restamps the
+  sync keys, so the spinner is bounded by MODEL_SYNC_TIMEOUT rather than sticking."""
+  if started_at is None or time.monotonic() - started_at > MODEL_SYNC_TIMEOUT:
+    return False
+  return not all(ui_state.params.get(key) for key in MODEL_SYNC_KEYS)

openpilot/sunnypilot/modeld_v2/camera_offset_helper.py

@@ -15,11 +15,19 @@ class CameraOffsetHelper:
     self.actual_camera_offset = 0.0
 
   @staticmethod
-  def apply_camera_offset(model_transform, intrinsics, height, offset_param):
+  def get_v_horizon(intrinsics, rpy_calib):
     cy = intrinsics[1, 2]
+    if len(rpy_calib) == 3 and np.isfinite(rpy_calib).all():
+      fy = intrinsics[1, 1]
+      pitch = rpy_calib[1]
+      return float(cy - fy * np.tan(pitch))
+    return float(cy)
+
+  @staticmethod
+  def apply_camera_offset(model_transform, height, offset_param, v_horizon):
     shear = np.eye(3, dtype=np.float32)
     shear[0, 1] = offset_param / height
-    shear[0, 2] = -offset_param / height * cy
+    shear[0, 2] = -offset_param / height * v_horizon
     model_transform = (shear @ model_transform).astype(np.float32)
     return model_transform
 
@@ -30,10 +38,13 @@ class CameraOffsetHelper:
     self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
     dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
     height = sm["extrinsicsCalibration"].height[0] if sm['extrinsicsCalibration'].height else 1.22
+    rpy_calib = sm['extrinsicsCalibration'].rpyCalib
 
     intrinsics_main = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
-    model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
+    v_horizon_main = self.get_v_horizon(intrinsics_main, rpy_calib)
+    model_transform_main = self.apply_camera_offset(model_transform_main, height, self.actual_camera_offset, v_horizon_main)
 
     intrinsics_extra = dc.wide_road.intrinsics
-    model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
+    v_horizon_extra = self.get_v_horizon(intrinsics_extra, rpy_calib)
+    model_transform_extra = self.apply_camera_offset(model_transform_extra, height, self.actual_camera_offset, v_horizon_extra)
     return model_transform_main, model_transform_extra

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -552,6 +552,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction

openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py

@@ -6,8 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 import numpy as np
 
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, view_frame_from_device_frame
 from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 from openpilot.common.test import OpenpilotTestCase
 
@@ -46,29 +47,50 @@ class TestCameraOffset(OpenpilotTestCase):
     self.camera_offset.update(main_transform, extra_transform, sm, False)
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
 
-  def test_camera_offset_(self):
+  def test_apply_camera_offset(self):
     intrinsics = self.dc.narrow_road.intrinsics
+    v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, [])  # pitch = 0 fallback: v_horizon == cy
     transform = np.eye(3, dtype=np.float32)
     height = 1.22
     offset = 0.1
 
-    cy = intrinsics[1, 2]
     expected_shear = np.eye(3, dtype=np.float32)
     expected_shear[0, 1] = offset / height
-    expected_shear[0, 2] = -offset / height * cy
+    expected_shear[0, 2] = -offset / height * v_horizon
 
-    result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
+    result = CameraOffsetHelper.apply_camera_offset(transform, height, offset, v_horizon)
     np.testing.assert_array_almost_equal(result, expected_shear)
 
+  def test_v_horizon_empty_rpy(self):
+    intrinsics = self.dc.narrow_road.intrinsics
+    v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, [])
+    np.testing.assert_almost_equal(v_horizon, intrinsics[1, 2])
+
+  def test_v_horizon_projection(self):
+    intrinsics = self.dc.narrow_road.intrinsics
+    f, cy = intrinsics[1, 1], intrinsics[1, 2]
+
+    for pitch_deg in [6.0, -6.0, 0.0]:
+      rpy = [0.0, np.radians(pitch_deg), 0.0]
+      d_dev = rot_from_euler(rpy) @ np.array([1.0, 0.0, 0.0])
+      view = view_frame_from_device_frame @ d_dev
+      expected = cy + f * view[1] / view[2]
+
+      v_horizon = CameraOffsetHelper.get_v_horizon(intrinsics, rpy)
+      np.testing.assert_almost_equal(v_horizon, expected, decimal=4)
+
   def test_update(self):
+    height = 1.2
+    pitch = np.radians(-8.0)
+
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
       narrowRoadCameraState=MockStruct(sensor='os04c10'),
-      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, pitch, 0.0], height=[height])
     )
     intrinsics_main = self.dc.narrow_road.intrinsics
     intrinsics_extra = self.dc.wide_road.intrinsics
-    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+    device_from_calib_euler = np.array(sm['extrinsicsCalibration'].rpyCalib, dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
 
@@ -81,5 +103,13 @@ class TestCameraOffset(OpenpilotTestCase):
     main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
     assert not np.array_equal(main_out, main_transform)
     assert not np.array_equal(extra_out, extra_transform)
-    assert main_out[0, 1] != 0.0
-    assert main_out[0, 2] != 0.0
+
+    # settle the low-pass filter
+    for _ in range(100):
+      main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+
+    # undo main_transform dot product to get shear matrix
+    shear = main_out @ np.linalg.inv(main_transform)
+    expected_v_horizon = intrinsics_main[1, 2] - intrinsics_main[1, 1] * np.tan(pitch)
+    np.testing.assert_almost_equal(shear[0, 1], self.camera_offset.actual_camera_offset / height, decimal=4)
+    np.testing.assert_almost_equal(shear[0, 2], -self.camera_offset.actual_camera_offset / height * expected_v_horizon, decimal=4)